CN110510545B - Hydraulic synchronous control loop for heavy double-scissor fork type lifting device - Google Patents
Hydraulic synchronous control loop for heavy double-scissor fork type lifting device Download PDFInfo
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- CN110510545B CN110510545B CN201811394510.6A CN201811394510A CN110510545B CN 110510545 B CN110510545 B CN 110510545B CN 201811394510 A CN201811394510 A CN 201811394510A CN 110510545 B CN110510545 B CN 110510545B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/065—Scissor linkages, i.e. X-configuration
- B66F7/0658—Multiple scissor linkages horizontally arranged
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F7/00—Lifting frames, e.g. for lifting vehicles; Platform lifts
- B66F7/06—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement
- B66F7/08—Lifting frames, e.g. for lifting vehicles; Platform lifts with platforms supported by levers for vertical movement hydraulically or pneumatically operated
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/20507—Type of prime mover
- F15B2211/20515—Electric motor
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B2211/00—Circuits for servomotor systems
- F15B2211/20—Fluid pressure source, e.g. accumulator or variable axial piston pump
- F15B2211/205—Systems with pumps
- F15B2211/2053—Type of pump
- F15B2211/20546—Type of pump variable capacity
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Structural Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Forklifts And Lifting Vehicles (AREA)
- Fluid-Pressure Circuits (AREA)
Abstract
The invention relates to a hydraulic synchronous control loop for a heavy double-scissor fork type lifting device for loading and unloading a large container. The intelligent control device consists of a functional component and a structural component, wherein the functional component comprises a left pull wire sensor, a right pull wire sensor, a left displacement sensor, a right displacement sensor, a left balance valve, a right balance valve, a proportional reversing valve and a PLC. The left and right stay wire sensors are connected with the upper platform and the PLC; the left-right displacement sensor is connected with the left-right shearing fork cylinder and the PLC; the left balance valve and the right balance valve are connected with the proportional reversing valve and each shearing fork cylinder; the proportional reversing valve is connected with the proportional amplifier, the PLC and the variable plunger pump; the left and right stay wire sensors and the left and right displacement sensors are respectively connected with the PLC. The left stay wire sensor and the right stay wire sensor are respectively connected with the upper platform and the PLC; the device is suitable for automatic, overweight, large-volume and multi-batch container loading and unloading transportation, and has the advantages of high control precision, small synchronization error, simple structure, accurate positioning, flexible operation and safe operation.
Description
Technical Field
The invention relates to a hydraulic synchronous control loop for a heavy double-scissor fork type lifting device in the field of large container loading and unloading.
Background
In the prior art, in order to reduce unnecessary hydraulic synchronous control, a single-group fork lifting mechanism is mostly adopted. The double-scissor lifting mechanism generally adopts 1-2 hydraulic cylinders to push the scissor to lift, and has the advantages of small lifting quality, single hydraulic function and poor descending safety. And the hydraulic synchronous loop of the double-scissor lifting mechanism of the large container is realized by utilizing a hydraulic control function. The hydraulic synchronous control of the serial synchronous hydraulic cylinders is adopted, and due to hydraulic leakage and manufacturing errors, the synchronous errors exist; the hydraulic synchronous loop utilizing the speed regulating function of the speed regulating valve has low control precision, limited control quality and small control volume due to the differences of the performance, the oil temperature, the load, the leakage and the resistance of the speed regulating valve.
Disclosure of Invention
The invention aims to provide a hydraulic synchronous control loop for a heavy double-scissor type lifting device, which can effectively improve control precision and reliably increase control quality and control volume.
The hydraulic synchronous control loop for the heavy double-scissor type lifting device is designed and consists of a functional component and a structural component, wherein the functional component is provided with a left pull wire sensor, a right pull wire sensor, a left displacement sensor, a right displacement sensor, a left balance valve, a right balance valve, a proportional reversing valve and a PLC controller; the left wire sensor and the right wire sensor are respectively connected with the upper platform and the PLC at two ends; the left displacement sensor is arranged in the left shear fork cylinder A, and one end of the left displacement sensor is connected with the PLC; the right displacement sensor is arranged in the right shear fork cylinder A, and one end of the right displacement sensor is connected with the PLC; the left balance valve and the right balance valve are respectively connected with a left shearing fork cylinder A, a left shearing fork cylinder B, a right shearing fork cylinder A, a right shearing fork cylinder B and an upper platform; the proportional reversing valve is respectively connected with a PLC controller, a proportional amplifier, a motor, a variable plunger pump, a left balance valve and a right balance valve.
Meanwhile, the left balance valve is connected with the left shearing fork cylinder A, the left shearing fork cylinder B and the upper platform, so that balance control of the left balance valve on the left shearing fork cylinder A, the left shearing fork cylinder B and the upper platform is realized; the right balance valve is connected with the right shearing fork cylinder A, the right shearing fork cylinder B and the upper platform, so that balance control of the right shearing fork cylinder A, the right shearing fork cylinder B and the upper platform by the right balance valve is realized; the proportional reversing valve is respectively connected with the left balance valve and the right balance valve, so that lifting reversing control, speed control and synchronous control of the proportional reversing valve on the left balance valve, the right balance valve, the left shearing fork cylinder A, the left shearing fork cylinder B, the right shearing fork cylinder A, the right shearing fork cylinder B and the upper platform are realized.
In addition, the PLC controller, the proportional amplifier and the proportional reversing valve are sequentially connected, so that the control of the PLC controller and the proportional amplifier to the proportional reversing valve is realized; the motor and the variable plunger pump are connected with the PLC controller, so that the control of the motor and the variable plunger pump by the PLC controller is realized; the variable plunger pump is connected with the proportional reversing valve, so that the feedback control of the proportional reversing valve on the variable plunger pump is realized.
The beneficial technical effects of the invention are as follows: because the functional components are provided with the left pull wire sensor, the right pull wire sensor, the left displacement sensor, the right displacement sensor, the left balance valve, the right balance valve, the proportional reversing valve and the PLC controller, the synchronous error can be reduced. Meanwhile, the control part is provided with a PLC controller, a proportional amplifier and a proportional reversing valve, so that the control precision can be reliably improved. The invention also has the advantages of simple structure, accurate positioning, flexible operation, safe operation, heavy bearing quality, large lifting volume and automatic cycle operation.
Drawings
FIG. 1 is a control block diagram; FIG. 2 is a component block diagram; FIG. 3 is a left side view of FIG. 2; fig. 4 is a right side view of fig. 2.
In the figure, 1, functional components, 2, structural components, 3, left scissors mechanism, 4, right scissors mechanism, 5, left pull wire sensor, 6, right pull wire sensor, 7, left displacement sensor, 8, right displacement sensor, 9, left scissors cylinder A,10, left scissors cylinder B,11, right scissors cylinder A,12, right scissors cylinder B,13, left balance valve, 14, right balance valve, 15, proportional reversing valve, 16, motor, 17, variable plunger pump, 18, proportional amplifier, 19, PLC controller, 20, upper platform, 21, lower platform, 22, pulley, 23, support, 24, rod cavity, 25, rodless cavity, 26, guide groove, 27, upper beam, 28 and lower beam.
Detailed Description
The invention is further illustrated in two parts by the examples provided below with reference to the figures.
A first part, a mechanism component.
The embodiment of the invention comprises the following steps: a functional component (1), a structural component (2);
the functional component (1) comprises: a left shearing mechanism (3), a right shearing mechanism (4), a left wire pulling sensor (5), a right wire pulling sensor (6), a left displacement sensor (7), a right displacement sensor (8), a left shearing cylinder A (9), a left shearing cylinder B (10), a right shearing cylinder A (11), a right shearing cylinder B (12), a left balance valve (13), a right balance valve (14), a proportional reversing valve (15), a motor (16), a variable displacement plunger pump (17), a proportional amplifier (18) and a PLC (19);
the structural component (2) comprises: the device comprises an upper platform (20), a lower platform (21), pulleys (22), a support (23), a rod cavity (24), a rodless cavity (25), a guide groove (26), an upper beam (27) and a lower beam (28).
And a second part for synchronizing the control process.
The PLC (19) is powered by the starting switch, the automatic lifting switch is started, the PLC (19) sends out an automatic circulation action flow, the motor (16) is started by sending out a signal, the pressure of the variable plunger pump (17) is set by sending out the signal, the variable plunger pump (17) rotates and builds initial starting pressure, and after 5 seconds, the lifting signal or the descending signal is sent out.
When the lifting action is executed, a PLC (19) sends out a lifting signal of an upper platform (20), the lifting signal is amplified by a proportional amplifier (18) and transmitted to a proportional reversing valve (15), the two proportional reversing valves (15) are simultaneously reversed according to the given signal, hydraulic oil respectively enters a left scissor cylinder A (9), a left scissor cylinder B (10), a right scissor cylinder A (11) and a rodless cavity (25) of a right scissor cylinder B (12) through a variable plunger pump (17), the proportional reversing valve (15), a left balance valve (13) and a right balance valve (14), and a piston rod extends out to respectively push a left scissor mechanism (3) and a right scissor mechanism (4) to lift, so that the upper platform (20) is pushed to lift. The hydraulic oil with the rod cavity (24) flows back to the oil tank through the left balance valve (13), the right balance valve (14) and the proportional reversing valve (15) respectively.
When the descending action is executed, a PLC (19) sends out a descending signal of the upper platform (20), the descending signal is amplified by a proportional amplifier and transmitted to a proportional reversing valve (15), the proportional reversing valve (15) reverses according to the given signal, hydraulic oil respectively enters a left shearing fork cylinder A (9), a left shearing fork cylinder B (10), a right shearing fork cylinder A (11) and a rod cavity (24) of the right shearing fork cylinder B (12) through a variable plunger pump (17), the proportional reversing valve (15), a left balance valve (13) and a right balance valve (14), and the piston rod is retracted to respectively pull a left shearing fork mechanism (3) and a right shearing fork mechanism (4) to descend, so that the upper platform (20) is pulled to descend. The hydraulic oil of the rodless cavity (25) flows back to the oil tank through the left balance valve (13), the right balance valve (15) and the proportional reversing valve (15) respectively.
The proportional reversing valves (15) can realize the action switching of ascending, descending, stopping and the like of the upper platform (20), and each proportional reversing valve (15) can independently set the flow and the pressure. The opening degree can be set and adjusted according to a PLC (19) to control the flow, so that the extending and retracting speeds of the left shearing fork cylinder A (9), the left shearing fork cylinder B (10), the right shearing fork cylinder A (11) and the right shearing fork cylinder B (12) are controlled, and the rising and descending speeds of the upper platform (20) are adjusted.
The flow of the variable plunger pump (17) is controlled by a proportional reversing valve (15), a control oil way is connected between the proportional reversing valve (15) and the variable plunger pump (17), and the proportional reversing valve (15) adjusts the output flow of the variable plunger pump (17) by controlling the flow and pressure change of oil. The set pressure of the variable plunger pump (17) is controlled by the PLC (19), the PLC (19) sends out pressure setting, and the variable plunger pump (17) can set different pressure levels.
The set pressure of the left balance valve (13) and the right balance valve (14) is larger than the load pressure borne by the left scissor mechanism (3) and the right scissor mechanism (4), so that the rodless cavities (25) of the left scissor cylinder A (9), the left scissor cylinder B (10), the right scissor cylinder A (11) and the right scissor cylinder B (12) generate back pressure. When the proportional reversing valve (15) is simultaneously reversed and stops ascending or descending, the left fork mechanism (3) and the right fork mechanism (4) are stopped, the left balance valve (13) and the right balance valve (14) enable the back pressure generated by the rodless cavity (25) to enable the left fork cylinder A (9), the left fork cylinder B (10), the left fork cylinder B (11) and the right fork cylinder B (12) to be stably stopped at the set positions, so that the left fork mechanism (3) and the right fork mechanism (4) can be stopped at the required height position in the ascending or descending process, and the positioning accuracy reaches 1mm.
When the left shearing fork mechanism (3) and the right shearing fork mechanism (4) need to descend, the control oil with the rod cavity (24) opens the oil paths of the left balance valve (13) and the right balance valve (14) to a certain opening degree, so that the oil in the rodless cavity (25) flows back to the oil tank, and certain oil return back pressure is maintained, so that the left shearing fork cylinder A (9), the left shearing fork cylinder B (10), the left shearing fork cylinder B (11) and the right shearing fork cylinder B (12) stably descend, and the situation that the whole machine is damaged due to rapid descent is avoided.
The left wire pulling sensor (5) and the right wire pulling sensor (6) are respectively arranged on the left side and the right side of the upper platform (20) and are used for controlling the height of the upper platform (20) and controlling the leveling. When the upper platform (20) ascends and descends, the left-hand wire drawing sensor (5) and the right-hand wire drawing sensor (6) can detect the left end and the right end of the upper platform (20) and transmit the left end and the right end to the PLC (19), and the upper platform (20) is lifted or stopped according to the height values of the left-hand wire drawing sensor (5) and the right-hand wire drawing sensor (6) set by the PLC (19). The PLC (19) can realize the comparison of the left end and the right end of the upper platform (20), the left end of the upper platform (20) is used as a reference, when the height error of the two ends is larger than 1mm, the PLC (19) sends a signal to the proportional reversing valve (15), the proportional reversing valve (15) increases or decreases the opening degree, the flow entering the right shearing fork cylinder A (11) and the right shearing fork cylinder B (12) is regulated, the ascending or descending speed of the right shearing fork mechanism (4) is regulated until the height difference of the left end and the right end of the upper platform (20) is controlled within 1mm, and the upper platform (20) is leveled.
The left displacement sensor (7) and the right displacement sensor (8) are respectively arranged on the left shearing fork cylinder A (9) and the right shearing fork cylinder A (11), the left displacement sensor (7) and the right displacement sensor (8) detect the stroke displacement of the left shearing fork cylinder A (9) and the right shearing fork cylinder A (11) and transmit the stroke displacement to the PLC (19), after the PLC (19) is subjected to operation and comparison, when the difference value between the left displacement sensor (7) and the right displacement sensor (8) exceeds 5mm, the PLC (19) gives out an alarm and stops, so that the left shearing fork cylinder A (9) and the right shearing fork cylinder A (11) are prevented from being out of sync, and the functions of secondary safety protection and monitoring are achieved.
Claims (2)
1. The utility model provides a heavy double shear fork hydraulic synchronization control circuit for elevating gear, it comprises functional component (1) and structural component (2), its characterized in that:
the functional component (1) is provided with a left pull wire sensor (5), a right pull wire sensor (6), a left displacement sensor (7), a right displacement sensor (8), a left balance valve (13), a right balance valve (14), a proportional reversing valve (15) and a PLC (programmable logic controller) controller (19); the two ends of the left wire pulling sensor (5) and the right wire pulling sensor (6) are respectively connected with an upper platform (20) and a PLC (programmable logic controller) 19; the left displacement sensor (7) is arranged in the left scissor cylinder A (9), and one end of the left displacement sensor (7) is connected with the PLC (19); the right displacement sensor (8) is arranged in the right scissor cylinder A (11), and one end of the right displacement sensor (8) is connected with the PLC (19); the left balance valve (13) and the right balance valve (14) are respectively connected with a left shearing fork cylinder A (9), a left shearing fork cylinder B (10), a right shearing fork cylinder A (11), a right shearing fork cylinder B (12) and an upper platform (20); the proportional reversing valve (15) is respectively connected with a PLC (programmable logic controller) 19, a proportional amplifier 18, a motor 16, a variable plunger pump 17, a left balance valve 13 and a right balance valve 14; the left balance valve (13) is connected with the left shearing fork cylinder A (9), the left shearing fork cylinder B (10) and the upper platform (20), so that balance control of the left shearing fork cylinder (9) A, the left shearing fork cylinder B (10) and the upper platform (20) by the left balance valve is realized; the right balance valve (14) is connected with the right shearing fork cylinder A (11), the right shearing fork cylinder B (12) and the upper platform (20), so that balance control of the right shearing fork cylinder A (11), the right shearing fork cylinder B (12) and the upper platform (20) by the right balance valve (14) is realized; the proportional reversing valve (15) is respectively connected with the left balance valve (13) and the right balance valve (14), so that the proportional reversing valve (15) can realize lifting reversing control, speed control and synchronous control on the left balance valve (13), the right balance valve (14), the left fork cylinder (9) A, the left fork cylinder B (10), the right fork cylinder A (11), the right fork cylinder B (12) and the upper platform (20);
the structural component (2) comprises: the device comprises an upper platform (20), a lower platform (21), pulleys (22), a support (23), a rod cavity (24), a rodless cavity (25), a guide groove (26), an upper beam (27) and a lower beam (28).
2. The hydraulic synchronization control circuit for a heavy double scissor lift device of claim 1, wherein: the PLC (19) and the proportional amplifier (18) are sequentially connected with the proportional reversing valve (15), so that the control of the PLC (19) and the proportional amplifier (18) on the proportional reversing valve (15) is realized; the motor (16) and the variable plunger pump (17) are connected with the PLC (19), so that the PLC (19) can control the motor (16) and the variable plunger pump (17); the variable plunger pump (17) is connected with the proportional reversing valve (15) to realize feedback control of the proportional reversing valve (15) on the variable plunger pump (17).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811394510.6A CN110510545B (en) | 2018-11-22 | 2018-11-22 | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811394510.6A CN110510545B (en) | 2018-11-22 | 2018-11-22 | Hydraulic synchronous control loop for heavy double-scissor fork type lifting device |
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| CN110510545A CN110510545A (en) | 2019-11-29 |
| CN110510545B true CN110510545B (en) | 2023-08-08 |
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| CN116902856B (en) * | 2023-09-11 | 2023-11-14 | 烟台市劲拓汽车科技有限公司 | Lifting machine and lifting method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US7926410B2 (en) * | 2007-05-01 | 2011-04-19 | J.R. Automation Technologies, L.L.C. | Hydraulic circuit for synchronized horizontal extension of cylinders |
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| CN202468502U (en) * | 2012-03-13 | 2012-10-03 | 徐州重型机械有限公司 | Dual-cylinder synchronous control hydraulic system and engineering machinery |
| CN103438037A (en) * | 2013-08-06 | 2013-12-11 | 湖南星邦重工有限公司 | Lifting and dropping action hydraulic system for scissor type aerial working trolley platforms |
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| CN110510545A (en) | 2019-11-29 |
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